| 机器人用六维腕力传感器标定研究 |
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| 引用本文： | 陈雄标,袁哲俊,姚英学. 机器人用六维腕力传感器标定研究[J]. 机器人, 1997, 19(1): 7-12 |
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| 作者姓名： | 陈雄标 袁哲俊 姚英学 |
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| 作者单位： | 哈尔滨工业大学 |
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| 摘 要： | 本文在基于获得最高标定精度的基础上，推导出标定力的选取原则；同时提出了传感器相对干扰矩阵的新概念，在此基础上，建立了一套传感器标定的实验系统，并对笔者研制的六维腕力传感器进行了标定
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| 关 键 词： | 六维腕力传感器 标定 系统误差 干扰矩阵 |
STUDY ON CALIBRATION OF 6 AXIS WRIST FORCE SENSORS FOR ROBOT |
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| CHEN Xiongbiao YUAN Zhejun YAO Yingxue. STUDY ON CALIBRATION OF 6 AXIS WRIST FORCE SENSORS FOR ROBOT[J]. Robot, 1997, 19(1): 7-12 |
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| Authors: | CHEN Xiongbiao YUAN Zhejun YAO Yingxue |
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| Affiliation: | Harbin Institute of Technology 150001 |
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| Abstract: | In order to obtain the highest accuracy of calibration, this paper deduces the criterion of selecting calibration force and proposes the new concept of relative interference matrix of sensors. An experimental system for calibrating sensors is discussed and the sensor which was designed and manufactured by the authors is calibrated. |
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| Keywords: | axis wrist force sensor calibration system error interference matrix |
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